version: 66.11
glider: 170
mission: 10
dive: 299
start: 12 29 112 18 15 14
data:
$ID,170
$MISSION,10
$DIVE,299
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143471.48
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,291212,180006,2050.716,11953.497,36,0.9,36,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.8
$GPS2,291212,181447,2050.975,11953.678,18,0.9,19,-2.8
$SPEED_LIMITS,0.139,0.274
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,11.6,100644,-14.0,-8.049,-16.39
$D_GRID,3420
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.48,-170.3,0.0,0.0,0,84,0.00,0.00,-61.25,0.000,2,0.000,0.000,131,2626,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-170.3,3.1,-1.8,11,154,11.40,1.77,-47.90,0.000,4,0.238,0.076,2887,3683,3465,0,0,0,0,0,0,25.25,26.02,26.55
$GC,235,-0.44,-170.3,22.3,-18.0,37,241,0.00,1.58,0.00,0.000,6,0.000,0.024,2887,2575,3465,0,0,0,0,0,0,28.83,26.31,28.83
$GC,426,-0.40,-170.3,58.3,-19.4,55,432,0.12,1.98,0.00,0.000,4,0.175,0.030,2928,1236,3465,0,0,0,0,0,0,26.14,26.29,28.83
$GC,545,-0.40,-170.3,72.3,-12.1,60,553,0.00,2.10,0.00,0.000,6,0.000,0.046,2928,2583,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,731,-0.42,-170.3,92.4,-8.7,70,736,0.00,2.05,0.00,0.000,4,0.000,0.038,2929,1222,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,789,-0.46,-170.3,95.9,-8.3,72,795,0.00,2.15,0.00,0.000,6,0.000,0.044,2930,2617,3465,0,0,0,0,0,0,28.83,26.28,28.83
$GC,975,-0.51,-170.3,110.2,-6.8,82,980,0.12,2.05,0.00,0.000,4,0.092,0.028,2850,1240,3465,0,0,0,0,0,0,26.52,26.39,28.83
$GC,1124,-0.51,-170.3,124.6,-10.1,89,1131,0.12,2.08,0.00,0.000,6,0.148,0.044,2887,2603,3465,0,0,0,0,0,0,26.12,26.30,28.83
$GC,1326,-0.52,-170.3,141.7,-8.2,99,1332,0.00,2.03,0.00,0.000,4,0.000,0.028,2888,1229,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1380,-0.53,-170.3,145.3,-7.8,101,1385,0.00,2.10,0.00,0.000,6,0.000,0.042,2888,2599,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1575,-0.56,-170.3,159.4,-6.4,111,1580,0.00,2.00,0.00,0.000,4,0.000,0.029,2888,1231,3465,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1587,-0.60,-170.3,159.4,-6.4,111,1592,0.00,2.10,0.00,0.000,6,0.000,0.042,2888,2599,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1781,-0.63,-170.3,172.5,-5.9,121,1787,0.12,2.00,0.00,0.000,4,0.085,0.027,2808,1231,3465,0,0,0,0,0,0,26.58,26.42,28.83
$GC,1910,-0.60,-170.3,184.6,-10.5,127,1916,0.15,2.10,0.00,0.000,6,0.148,0.043,2851,2610,3465,0,0,0,0,0,0,26.07,26.31,28.83
$GC,2110,-0.60,-170.3,205.0,-10.4,137,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2610,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,-0.60,-170.3,225.6,-11.9,146,2295,0.00,2.05,0.00,0.000,4,0.000,0.028,2851,1221,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2327,-0.60,-170.3,228.5,-11.9,147,2334,0.00,2.12,0.00,0.000,6,0.000,0.043,2851,2600,3463,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2514,-0.60,-170.3,250.8,-10.9,157,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2600,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.60,-170.3,284.4,-10.8,172,2821,0.00,2.00,0.00,0.000,4,0.000,0.028,2851,1230,3461,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2883,-0.60,-170.3,290.9,-10.1,175,2888,0.00,2.12,0.00,0.000,6,0.000,0.042,2851,2612,3461,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3202,-0.60,-170.3,314.4,-6.6,191,3207,0.00,2.05,0.00,0.000,4,0.000,0.028,2851,1222,3459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3259,-0.60,-170.3,317.3,-6.9,193,3266,0.00,2.10,0.00,0.000,6,0.000,0.041,2851,2601,3459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3565,-0.61,-170.3,342.2,-8.3,209,3570,0.00,2.00,0.00,0.000,4,0.000,0.028,2851,1230,3457,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3597,-0.62,-170.3,344.2,-8.3,210,3603,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2611,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3913,-0.62,-170.3,373.9,-9.5,226,3919,0.00,2.05,0.00,0.000,4,0.000,0.027,2851,1221,3455,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3951,-0.63,-170.3,376.2,-9.5,227,3959,0.00,2.12,0.00,0.000,6,0.000,0.041,2852,2611,3455,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4257,-0.64,-170.3,403.9,-8.2,243,4263,0.00,2.05,0.00,0.000,4,0.000,0.027,2852,1220,3453,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4321,-0.65,-170.3,409.1,-8.1,246,4327,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2603,3453,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4645,-0.65,-170.3,431.6,-6.8,262,4650,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1227,3451,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4703,-0.66,-170.3,434.8,-7.0,264,4710,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2605,3450,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5009,-0.67,-170.3,459.1,-7.9,280,5014,0.00,2.03,0.00,0.000,4,0.000,0.027,2852,1217,3448,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5058,-0.68,-170.3,462.5,-7.8,282,5063,0.00,2.15,0.00,0.000,6,0.000,0.041,2851,2611,3448,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5377,-0.69,-170.3,485.4,-6.5,298,5382,0.00,2.05,0.00,0.000,4,0.000,0.028,2851,1228,3446,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5431,-0.70,-170.3,488.4,-6.5,300,5436,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2603,3446,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5744,-0.71,-170.3,510.6,-7.1,316,5751,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1228,3445,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5805,-0.72,-170.3,514.0,-7.4,318,5812,0.10,2.12,0.00,0.000,6,0.107,0.041,2794,2604,3444,0,0,0,0,0,0,26.25,26.28,28.83
$GC,6110,-0.70,-170.3,550.7,-11.9,334,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2605,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,-0.69,-170.3,585.1,-10.8,349,6418,0.12,2.05,0.00,0.000,4,0.162,0.024,2836,1218,3441,0,0,0,0,0,0,26.27,26.41,28.83
$GC,6476,-0.69,-170.3,591.0,-9.2,352,6481,0.00,2.12,0.00,0.000,6,0.000,0.041,2836,2601,3439,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6812,-0.69,-170.3,614.6,-7.0,365,6817,0.00,2.05,0.00,0.000,4,0.000,0.037,2836,1223,3439,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6870,-0.69,-170.3,617.3,-7.1,366,6876,0.00,2.12,0.00,0.000,6,0.000,0.041,2836,2612,3439,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7176,-0.69,-170.3,645.0,-9.1,377,7182,0.00,2.05,0.00,0.000,4,0.000,0.027,2835,1223,3438,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7254,-0.70,-170.3,651.4,-9.6,379,7259,0.00,2.12,0.00,0.000,6,0.000,0.041,2836,2611,3438,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7575,-0.70,-170.3,684.7,-10.0,390,7581,0.00,2.05,0.00,0.000,4,0.000,0.027,2836,1225,3436,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7639,-0.71,-170.3,691.0,-9.7,392,7645,0.00,2.15,0.00,0.000,6,0.000,0.040,2836,2607,3436,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7976,-0.72,-170.3,717.7,-7.2,403,7982,0.00,2.03,0.00,0.000,4,0.000,0.037,2836,1231,3434,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8020,-0.72,-170.3,720.3,-7.0,404,8026,0.00,2.10,0.00,0.000,6,0.000,0.041,2836,2600,3434,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8346,-0.73,-170.3,741.2,-6.7,415,8351,0.00,2.03,0.00,0.000,4,0.000,0.028,2836,1219,3432,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8405,-0.74,-170.3,743.8,-6.9,416,8412,0.00,2.12,0.00,0.000,6,0.000,0.041,2836,2605,3432,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8710,-0.74,-170.3,770.6,-8.6,427,8716,0.00,2.05,0.00,0.000,4,0.000,0.026,2836,1217,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8769,-0.75,-170.3,773.6,-8.7,428,8775,0.00,2.12,0.00,0.000,6,0.000,0.041,2836,2605,3431,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9074,-0.76,-170.3,803.9,-9.5,439,9079,0.00,2.05,0.00,0.000,4,0.000,0.026,2836,1217,3430,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9138,-0.77,-170.3,810.0,-9.6,441,9143,0.00,2.15,0.00,0.000,6,0.000,0.041,2836,2611,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9473,-0.77,-170.3,839.7,-8.7,452,9479,0.12,2.05,0.00,0.000,4,0.093,0.024,2765,1227,3429,0,0,0,0,0,0,26.55,26.38,28.83
$GC,9574,-0.76,-170.3,851.3,-11.3,455,9580,0.15,2.15,0.00,0.000,6,0.164,0.043,2806,2602,3429,0,0,0,0,0,0,25.84,26.17,28.83
$GC,9905,-0.76,-170.3,885.9,-9.9,466,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2604,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10204,-0.75,-170.3,914.3,-9.3,476,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2605,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10503,-0.74,-170.3,940.5,-8.7,486,10509,0.00,2.05,0.00,0.000,4,0.000,0.026,2807,1221,3426,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10598,-0.74,-170.3,948.7,-8.7,489,10603,0.00,2.17,0.00,0.000,6,0.000,0.043,2807,2613,3426,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10933,-0.74,-170.3,976.8,-8.5,500,10938,0.00,2.08,0.00,0.000,4,0.000,0.028,2807,1220,3425,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11011,-0.74,-170.3,982.2,-8.5,502,11016,0.00,2.15,0.00,0.000,6,0.000,0.042,2807,2609,3424,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,11117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11117,begin apogee
$GC,11124,-0.15,0.0,992.6,-8.4,506,11276,0.55,0.00,145.12,1.487,6,0.110,0.000,2996,2120,2768,0,0,0,0,0,0,25.75,28.83,22.97
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11280,0.48,170.3,999.0,0.0,511,11451,0.57,0.00,162.32,1.445,6,0.054,0.000,3213,2118,2073,0,0,0,0,0,0,24.56,28.83,22.25
$GC,11751,0.45,170.3,958.5,11.0,527,11756,0.00,2.33,0.00,0.000,4,0.000,0.050,3213,3540,2064,0,0,0,0,0,0,28.83,25.81,28.83
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$GC,20058,0.74,481.2,150.7,7.0,871,20092,0.10,2.08,27.85,0.864,4,0.108,0.033,3310,723,806,0,0,0,0,0,0,26.55,26.00,24.65
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$STATE,21438,end climb,SURFACE_DEPTH_REACHED
$STATE,21438,begin surface coast
$FINISH,1.9,1.022218
$STATE,21454,end surface coast,CONTROL_FINISHED_OK
$STATE,21454,begin surface
$SM_CCo,21536,0.00,0.000,0,0,688,510.47
$SM_GC,2.43,8.27,0.75,0.00,0.037,0.040,0.000,133,2606,688,-9.06,-1.27,510.47,0,0,0,0,0,0,26.12,26.33,28.83
$IRIDIUM_FIX,2043.29,11942.69,291212,181805
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.20
$XPDR_PINGS,3
$SC_FREEKB,3905376
$24V_AH,22.3,58.667
$10V_AH,9.9,29.022
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.825,224.100,604.275,0.000,0.000,0.000,0.000,532.300,0.750,0.000,20.172,3384.999,14523.582,821.205,3151.567,520.656,0.000,2789.435,0.000,2501.637,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,75.735,1487.160,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.516,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,36663,982
$CAP_FILE_SIZE,261435,0
$CFSIZE,260034560,221409280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188, 77.9,1
$GPS,301212,001528,2054.410,11955.513,40,0.7,40,-2.8